61 lines
2.1 KiB
C#
61 lines
2.1 KiB
C#
using System.Text;
|
|
|
|
namespace Sick.ColaB.Commands;
|
|
|
|
/// <summary>
|
|
/// Command to call a method on the scanner (sMN - Method by Name)
|
|
/// </summary>
|
|
public sealed class MethodCommand(string methodName, params string[] parameters) : CommandBase($"sMN {methodName} {string.Join(" ", parameters)}")
|
|
{
|
|
public string MethodName { get; } = methodName;
|
|
public string[] Parameters { get; } = parameters;
|
|
|
|
public string? ReplyValue { get; private set; }
|
|
|
|
public override bool ProcessReply(ReadOnlyMemory<byte> replyData)
|
|
{
|
|
// Parse reply: "sAN <methodName> <result>" or "sMA <methodName> <result>" or "sFA <errorCode>" (Error)
|
|
var replyString = Encoding.ASCII.GetString(replyData.Span);
|
|
|
|
// Check if reply starts with "sFA" (Error) - scanner rejected the command
|
|
if (replyString.StartsWith("sFA", StringComparison.Ordinal))
|
|
{
|
|
// Extract error code if present
|
|
var errorParts = replyString.Split(' ', StringSplitOptions.RemoveEmptyEntries);
|
|
var errorInfo = errorParts.Length > 1 ? $" (error code: {string.Join(" ", errorParts.Skip(1))})" : "";
|
|
WasSuccessful = false;
|
|
ReplyValue = null;
|
|
return false;
|
|
}
|
|
|
|
// Check if reply starts with "sAN" (Answer) or "sMA" (Method Answer)
|
|
if (!replyString.StartsWith("sAN", StringComparison.Ordinal) &&
|
|
!replyString.StartsWith("sMA", StringComparison.Ordinal))
|
|
{
|
|
WasSuccessful = false;
|
|
return false;
|
|
}
|
|
|
|
// Extract result after method name
|
|
var parts = replyString.Split(' ', StringSplitOptions.RemoveEmptyEntries);
|
|
|
|
if (parts.Length >= 2 && parts[1] == MethodName)
|
|
{
|
|
if (parts.Length > 2)
|
|
{
|
|
ReplyValue = string.Join(" ", parts.Skip(2));
|
|
}
|
|
else
|
|
{
|
|
ReplyValue = string.Empty;
|
|
}
|
|
WasSuccessful = true;
|
|
return true;
|
|
}
|
|
|
|
WasSuccessful = false;
|
|
return false;
|
|
}
|
|
}
|
|
|